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Basic support for frame prioritization; tests are failing

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This commit is contained in:
Pavel Kirienko
2015-04-30 08:26:25 +03:00
parent eafcfa1733
commit 2843c0a35e
7 changed files with 288 additions and 48 deletions
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libuavcan/test/transport/frame.cpp
+9 -6
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@@ -136,7 +136,8 @@ TEST(Frame, FrameParsing)
* MFT invalid - unterminated transfer
*/
can.id = CanFrame::FlagEFF |
(2 << 0) | (0 << 3) | (Frame::MaxIndex << 4) | (42 << 10) |
(2 << 0) | (0 << 3) |
(unsigned(Frame::getMaxIndexForTransferType(uavcan::TransferTypeMessageUnicast)) << 4) | (42 << 10) |
(uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can));
@@ -226,12 +227,13 @@ TEST(Frame, FrameToString)
// RX frame default
RxFrame rx_frame;
EXPECT_EQ("dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
EXPECT_EQ("prio=4 dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
rx_frame.toString());
// RX frame max len
rx_frame = RxFrame(Frame(uavcan::DataTypeID::MaxPossibleDataTypeIDValue, uavcan::TransferTypeMessageUnicast,
uavcan::NodeID::Max, uavcan::NodeID::Max - 1, Frame::MaxIndex,
uavcan::NodeID::Max, uavcan::NodeID::Max - 1,
Frame::getMaxIndexForTransferType(uavcan::TransferTypeMessageUnicast),
uavcan::TransferID::Max, true),
uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
@@ -242,15 +244,16 @@ TEST(Frame, FrameToString)
}
rx_frame.setPayload(data, sizeof(data));
EXPECT_EQ("dtid=1023 tt=3 snid=127 dnid=126 idx=62 last=1 tid=7 payload=[00 01 02 03 04 05 06] "
EXPECT_EQ("prio=1 dtid=2047 tt=3 snid=127 dnid=126 idx=15 last=1 tid=7 payload=[00 01 02 03 04 05 06] "
"ts_m=18446744073709.551615 ts_utc=18446744073709.551615 iface=3",
rx_frame.toString());
// Plain frame default
Frame frame;
EXPECT_EQ("dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[]", frame.toString());
EXPECT_EQ("prio=4 dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[]", frame.toString());
// Plain frame max len
frame = rx_frame;
EXPECT_EQ("dtid=1023 tt=3 snid=127 dnid=126 idx=62 last=1 tid=7 payload=[00 01 02 03 04 05 06]", frame.toString());
EXPECT_EQ("prio=1 dtid=2047 tt=3 snid=127 dnid=126 idx=15 last=1 tid=7 payload=[00 01 02 03 04 05 06]",
frame.toString());
}